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loadrt stepgen step_type=0,0 ctrl_type=v,v | |
loadrt siggen | |
loadrt threads name1=fast fp1=0 period1=50000 name2=slow period2=1000000 | |
loadrt hal_pi_gpio dir=-1 exclude=0 | |
addf siggen.0.update slow | |
addf stepgen.update-freq slow | |
addf stepgen.make-pulses fast | |
setp stepgen.0.position-scale 10000 | |
net xstep stepgen.0.step => hal_pi_gpio.pin-03-out | |
net X-vel siggen.0.cosine => stepgen.0.velocity-cmd | |
setp stepgen.0.enable 1 | |
start |
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